Abstract
Grippers are essential components of robotic automation, allowing general purpose robots to perform specialized tasks. This paper aims to design a novel family of 4-DOF hybrid parallel robots, which has an integrated three-fingered robot end effector. As the proposed hybrid parallel robot features a parallel structure, it holds the potential to offer advantages synonymous with parallel mechanisms. The three-fingered robot end effector can perform stable grasping of objects with different sizes and shapes. First, the condition for stable grasping is derived and the synthesis method is proposed. Second, a family of novel 4-DOF hybrid parallel robots is designed through integrating a newly invented three-fingered robot end effector. Finally, a comparative study including the workspace analysis, singularity analysis and performance evaluation of an example hybrid parallel robot with two different topologies is carried out. Then the hybrid parallel robot with a better performance can be selected. The results of performance analysis demonstrate the correctness and rationality of the synthesis method and the high application potential of the obtained hybrid parallel robots.
| Original language | English |
|---|---|
| Article number | 105443 |
| Journal | Mechanism and Machine Theory |
| Volume | 189 |
| DOIs | |
| Publication status | Published - Nov 2023 |
Keywords
- Gripper
- Kinematics
- Lie group
- Parallel robot
- Performance evaluation
ASJC Scopus subject areas
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications